Stamping part online detection system, visual detection equipment, detection method and device

Abstract

The embodiment of the invention provides a stamping part online detection system, visual detection equipment, a detection method and a device. The system is used for detecting stamping parts moving on a conveying belt. Comprising visual detection equipment, first position detection equipment and control equipment, the visual inspection equipment comprises a follow-up mechanism, a camera shooting mechanism and a first controller, the first controller controls the follow-up mechanism to enable the camera shooting mechanism to move synchronously with the stamping part under the condition that the stamping part enters the shooting range of the camera shooting mechanism, and controls the camera shooting mechanism to collect an image of the stamping part in the synchronous moving process of the camera shooting mechanism and the stamping part. The stamping part is detected based on the collected image, and a detection result is obtained; the first position detection equipment is used for detecting the position of the stamping part on the conveying belt, and the control equipment is used for receiving a detection result sent by the first controller. On-line detection of the stamping parts moving along with the conveying belt on the stamping part production line is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of stamping part detection, and particularly to an on-line detection system for stamping parts, a vision detection device, a detection method and a device thereof. Background Art

[0002] In order to ensure the quality of stamping parts, the surface of stamping parts is usually inspected for defects. For example, for automotive stamping parts, after the stamping is completed, the accuracy of the position of the holes on the automotive stamping parts is inspected, as well as whether there are defects such as unevenness, sub-scratches, cracks, necking or burrs generated during the production process.

[0003] Currently, there are mainly three methods for the surface defect detection of traditional automotive stamping parts:

[0004] First, the method of manual inspection. This method determines whether there are defects by manually observing the surface of the stamping parts, relying entirely on the experience of the inspectors. It is difficult to guarantee the accuracy of the inspection results, and the inspection efficiency is relatively low. Moreover, with the increase of labor costs, the production cost of the factory will be higher.

[0005] Second, precision mechanical inspection equipment using technologies such as eddy current, infrared and magnetic flux leakage is used for inspection. Due to the limitations of the inspection principle, the types of defects that can be detected and the parameters for quantitatively describing the defects are very limited by this inspection method, and it is impossible to comprehensively evaluate the surface quality of the product. Therefore, it is only applicable to some occasions with low application requirements.

[0006] Third, based on machine vision recognition technology, a camera is used to collect images of stamping parts, the collected images are recognized, and based on the results of the image recognition, it is determined whether there are defects on the surface of the stamping parts. This method is a development direction for stamping part detection. However, currently, the camera is installed at a fixed position, and it can only collect images and perform image recognition on stamping parts in a stationary state to determine whether there are defects on the surface of the stamping parts, and it is impossible to perform on-line detection on stamping parts moving on the stamping part production line with a conveyor belt. Summary of the Invention

[0007] The purpose of the embodiments of the present application is to provide an on-line detection system for stamping parts, a vision detection device, a detection method and a device thereof to achieve on-line detection of stamping parts on the production line. The specific technical solutions are as follows:

[0008] The embodiments of the present application provide an on-line detection system for stamping parts, which is used to detect stamping parts moving on a conveyor belt; the system includes: at least one vision detection device, a first position detection device and a control device;

[0009] Each of the vision detection devices includes: a follow-up mechanism, a camera mechanism and a first controller;

[0010] The follow-up mechanism includes: a base arranged on the side of the conveyor belt and a follow-up component installed on the base;

[0011] The camera mechanism is installed at the end of the follow-up component;

[0012] The first controller is electrically connected to the camera mechanism and the follow-up component; when the stamped part enters the shooting range of the camera mechanism, it is used to control the movement of the follow-up component, so that the camera mechanism can move synchronously with the stamped part on the conveyor belt under the drive of the follow-up component, and control the camera mechanism to collect images of the stamped part during the synchronous movement with the stamped part, and detect the stamped part based on the collected images to obtain a detection result;

[0013] The first position detection device is arranged at a first fixed position on the side of the conveyor belt and is electrically connected to the first controller, and is used to detect the position of the stamped part on the conveyor belt, and notify the first controller when it detects that the stamped part enters the shooting range of the camera mechanism;

[0014] The control device is communicatively connected to the conveyor belt and the first controller, and is used to control the movement of the conveyor belt and receive the detection result sent by the first controller.

[0015] An embodiment of the present application also provides a vision detection device, which is applied to the above-mentioned on-line detection system for stamped parts; the vision detection device includes: a follow-up mechanism, a camera mechanism and a first controller;

[0016] The follow-up mechanism includes: a base arranged on the side of the conveyor belt and a follow-up component installed on the base;

[0017] The camera mechanism is installed at the end of the follow-up component;

[0018] The first controller is electrically connected to the camera mechanism and the follow-up component; when the stamped part enters the shooting range of the camera mechanism, it is used to control the movement of the follow-up component, so that the camera mechanism can move synchronously with the stamped part on the conveyor belt under the drive of the follow-up component, and control the camera mechanism to collect images of the stamped part during the synchronous movement with the stamped part, and detect the stamped part based on the collected images to obtain a detection result.

[0019] An embodiment of the present application also provides an on-line detection method for stamped parts, which is applied to the first controller in the above-mentioned on-line detection system for stamped parts; the method includes:

[0020] Receive the first notification message sent by the first position detection device, where the first notification message is used to indicate that the first position detection device has detected that the stamping part has entered the shooting range of the camera mechanism;

[0021] Obtain the moving speed of the conveyor belt;

[0022] Control the follower component to move at the moving speed of the conveyor belt, so that the camera mechanism can move synchronously with the stamping part on the conveyor belt under the drive of the follower component, and control the camera mechanism to collect an image of the stamping part during the synchronous movement with the stamping part;

[0023] Detect the stamping part based on the collected image to obtain a detection result;

[0024] Send the obtained detection result to the control device.

[0025] The embodiment of the present application also provides another on-line detection method for stamping parts, which is applied to the control device in the above on-line detection system for stamping parts; the method includes:

[0026] Control the conveyor belt to move;

[0027] Receive the detection result sent by the first controller in the vision detection device;

[0028] The detection result is that the first controller receives the first notification message sent by the first position detection device; obtains the moving speed of the conveyor belt; and controls the follower component to move at the moving speed of the conveyor belt, so that the camera mechanism can move synchronously with the stamping part on the conveyor belt under the drive of the follower component, and controls the camera mechanism to collect an image of the stamping part during the synchronous movement with the stamping part, and is obtained by detecting the stamping part based on the collected image; the first notification message is used to indicate that the first position detection device has detected that the stamping part has entered the shooting range of the camera mechanism.

[0029] The embodiment of the present application also provides an on-line detection device for stamping parts, which is applied to the first controller in the above on-line detection system for stamping parts; the device includes:

[0030] A first notification message receiving module, configured to receive the first notification message sent by the first position detection device, where the first notification message is used to indicate that the first position detection device has detected that the stamping part has entered the shooting range of the camera mechanism;

[0031] A speed obtaining module, configured to obtain the moving speed of the conveyor belt;

[0032] The first control module is used to control the follower component to move at the moving speed of the conveyor belt, so that the camera mechanism can move synchronously with the stamping parts on the conveyor belt under the drive of the follower component, and control the camera mechanism to collect images of the stamping parts during the synchronous movement with the stamping parts;

[0033] The detection module is used to detect the stamping parts based on the collected images to obtain a detection result;

[0034] The result sending module is used to send the obtained detection result to the control device.

[0035] The embodiment of the present application also provides another on-line detection device for stamping parts, which is applied to the control device in the above-mentioned on-line detection system for stamping parts; the device includes:

[0036] The second control module is used to control the movement of the conveyor belt;

[0037] The result receiving module is used to receive the detection result sent by the first controller in the vision detection device;

[0038] The detection result is: the first controller receives the first notification message sent by the first position detection device; obtains the moving speed of the conveyor belt; and controls the follower component to move at the moving speed of the conveyor belt, so that the camera mechanism can move synchronously with the stamping parts on the conveyor belt under the drive of the follower component, and controls the camera mechanism to collect images of the stamping parts during the synchronous movement with the stamping parts, and is obtained by detecting the stamping parts based on the collected images; the first notification message is used to indicate that the first position detection device detects that the stamping parts enter the shooting range of the camera mechanism.

[0039] The embodiment of the present application also provides a controller, including:

[0040] The memory is used to store computer programs;

[0041] The processor is used to implement any on-line detection method for stamping parts applied to the first controller when executing the programs stored on the memory.

[0042] The embodiment of the present application also provides a control device, including:

[0043] The memory is used to store computer programs;

[0044] The processor is used to implement any on-line detection method for stamping parts applied to the control device when executing the programs stored on the memory.

[0045] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, it implements any of the above online stamping part detection methods applied to the first controller, or implements any of the online stamping part detection methods applied to the control device.

[0046] Advantages of the embodiment of the present application:

[0047] For the online stamping part detection system, vision detection device, detection method and device provided by the embodiment of the present application, the camera mechanism in the vision detection device is installed at the end of the follower part of the follower mechanism, so that the first controller of the vision detection device can control the movement of the follower part when the stamping part on the conveyor belt enters the shooting range of the camera mechanism, so that the camera mechanism moves synchronously with the stamping part on the conveyor belt, and controls the camera mechanism to collect an image of the stamping part during the synchronous movement with the stamping part, and detect the stamping part based on the collected image to obtain a detection result. Thus, online detection of the stamping parts moving with the conveyor belt on the stamping part production line is realized.

[0048] At the same time, since the camera mechanism can move synchronously with the stamping part on the conveyor belt, the camera mechanism and the stamping part on the conveyor belt are relatively stationary. Compared with dynamic shooting, the clarity of the image taken by the camera mechanism in the stationary state is higher. Image recognition and detection are performed on the high-clarity stamping part image, which further ensures the accuracy of online detection.

[0049] Of course, it is not necessary for any product or method implementing the present application to achieve all the above advantages at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for description in the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other embodiments can also be obtained based on these drawings.

[0051] Figure 1 It is a schematic structural diagram of the first embodiment of the online stamping part detection system provided by the embodiment of the present application;

[0052] Figure 2 is Figure 1 a schematic structural diagram of the vision detection device in the illustrated embodiment;

[0053] Figure 3a 、 3b 、3c is Figure 1 a schematic structural diagram of the camera mechanism in the illustrated embodiment;

[0054] Figure 4 In Figure 1 the illustrated embodiment, a schematic structural diagram of a light source frame;

[0055] Figure 5 A schematic structural diagram of the second embodiment of the on-line inspection system for stamping parts provided by the embodiment of the present application;

[0056] Figure 6 In Figure 5 the illustrated embodiment, a layout schematic diagram of an inspection station, a first positioning station, a grasping station, a second positioning station, and a blanking table;

[0057] Figure 7 A schematic structural diagram of the third embodiment of the on-line inspection system for stamping parts provided by the embodiment of the present application;

[0058] Figure 8 A schematic structural diagram of the fourth embodiment of the on-line inspection system for stamping parts provided by the embodiment of the present application;

[0059] Figure 9 In Figure 8 the illustrated embodiment, a layout schematic diagram of an inspection station, a first positioning station, a grasping station, and a second positioning station;

[0060] Figure 10 A schematic structural diagram of the fifth embodiment of the on-line inspection system for stamping parts provided by the embodiment of the present application;

[0061] Figure 11a A schematic flowchart of the first embodiment of the on-line inspection method for stamping parts applied to a first controller provided by the embodiment of the present application;

[0062] Figure 11b In Figure 11a the illustrated embodiment, a schematic principle flowchart of the first controller for inspecting stamping parts;

[0063] Figure 12 A schematic flowchart of the second embodiment of the on-line inspection method for stamping parts applied to a first controller provided by the embodiment of the present application;

[0064] Figure 13 A schematic flowchart of the third embodiment of the on-line inspection method for stamping parts applied to a first controller provided by the embodiment of the present application;

[0065] Figure 14 A schematic flowchart of the first embodiment of the on-line inspection method for stamping parts applied to a control device provided by the embodiment of the present application;

[0066] Figure 15 A schematic flowchart of the second embodiment of the on-line inspection method for stamping parts applied to a control device provided by the embodiment of the present application;

[0067] Figure 16 It is a schematic flowchart of the third embodiment of the on-line detection method for stamping parts applied to a control device provided by an embodiment of the present application;

[0068] Figure 17 It is a schematic flowchart of the fourth embodiment of the on-line detection method for stamping parts applied to a control device provided by an embodiment of the present application;

[0069] Figure 18 It is a schematic overall concept flowchart of on-line detection using the on-line detection system provided by an embodiment of the present application;

[0070] Figure 19 It is a schematic structural diagram of an on-line detection device for stamping parts applied to a first controller provided by an embodiment of the present application;

[0071] Figure 20 It is a schematic structural diagram of an on-line detection device for stamping parts applied to a control device provided by an embodiment of the present application;

[0072] Figure 21 It is a schematic structural diagram of a controller provided by an embodiment of the present application;

[0073] Figure 22 It is a schematic structural diagram of a control device provided by an embodiment of the present application.

[0074] Figures 1 to 10 Reference numerals:

[0075] Conveyor belt 1, conveyor belt tail 11, stamping part 100;

[0076] Vision detection device 2, follow-up mechanism 21, follow-up mechanism base 210, follow-up component 211, follow-up component end 212; imaging mechanism 22, connecting frame 221, connecting frame top 2211a, connecting frame bottom 2211b; light source frame 222, light source frame top surface 2220, top surface light source 2221, conical surface light source 2222, first through hole 2223, second through hole 2224, inclined surface 2225, LED lamp bead 2226, camera hoisting plate 2227, camera hoisting structure 2228, hoisting rotation shaft 2229; camera 223, lens 2231;

[0077] First robotic arm 21a, detection station 213, first robotic arm base 210a, first movable arm 211a, first movable arm end 212a;

[0078] First position detection device 3, first positioning station 31;

[0079] Second robotic arm 4, gripping station 41, second robotic arm base 42, second moving arm 43, end of second moving arm 40, gripping mechanism 44;

[0080] Second position detection device 5, second positioning station 51;

[0081] Material distribution table 6;

[0082] Scrap temporary storage mechanism 7;

[0083] Follow-up sliding table 21b, support base 210b, first slide rail 2111, second slide rail 2112, third slide rail 2113, first slider 2114, second slider 2115, third slider 2116, installation track 2117, fixing part 2118. Specific implementation manner

[0084] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art based on the present application belong to the scope of protection of the present application.

[0085] As described in the background art, in the traditional surface inspection method of stamped parts, the manual inspection efficiency is low, and as the labor cost increases, the production cost of the factory will also be higher. Using precision mechanical inspection equipment such as eddy current, infrared, and magnetic flux leakage technologies for inspection, in addition to the problem that the detectable defects and the parameters for quantitatively describing the defects are very limited due to the limitations of the inspection principle, there are also cost problems and inspection accuracy problems. This is because precision mechanical inspection equipment is relatively expensive, large in volume, and high in installation and maintenance costs. As the machine wears, the inspection accuracy will decrease. For the visual surface defect detection system with a fixed camera installation position, due to the restrictions of the technical level and the inspection environment, the clarity and contrast of the collected images are not high enough. Image recognition and detection based on such images will lead to inaccurate detection results. That is to say, at present, it is impossible to accurately perform on-line inspection on the stamped parts moving along the conveyor belt on the stamped part production line.

[0086] In order to achieve accurate on-line inspection of stamped parts on the production line, the embodiments of the present application provide a stamped part on-line inspection system, a visual inspection device, an inspection method, and a device. The following will separately give detailed descriptions by way of examples.

[0087] First, the stamped part on-line inspection system provided by the embodiments of the present application will be described in detail.

[0088] See Figure 1 , Figure 1This is a schematic structural diagram of the first embodiment of the on-line detection system for stamping parts provided by the embodiments of the present application. As Figure 1 shown, the embodiments of the present application provide an on-line detection system for stamping parts, which is used to detect the stamping parts 100 moving on the conveyor belt 1; the system includes: at least one vision detection device 2, a first position detection device 3, and a control device ( Figure 1 not shown in the figure); each vision detection device 2 includes: a following mechanism 21, a camera mechanism 22, and a first controller ( Figure 1 not shown in the figure); the following mechanism 21 includes: a base 210 arranged on the side of the conveyor belt 1 and a following component 211 installed on the base 210; the camera mechanism 22 is installed at the end 212 of the following component 211.

[0089] Among them, the first controller is electrically connected to the camera mechanism 22 and the following component 211; it is used to control the movement of the following component 211 when the stamping part 100 enters the shooting range of the camera mechanism 22, so that the camera mechanism 22 can move synchronously with the stamping part 100 on the conveyor belt 1 under the drive of the following component 211, and control the camera mechanism 22 to collect an image of the stamping part 100 during the synchronous movement with the stamping part 100, and detect the stamping part 100 based on the collected image to obtain a detection result.

[0090] Among them, the first position detection device 3 is arranged at a first fixed position on the side of the conveyor belt 1 and is electrically connected to the first controller, and is used to detect the position of the stamping part 100 on the conveyor belt 1, and notify the first controller when it detects that the stamping part 100 enters the shooting range of the camera mechanism 22.

[0091] Among them, the control device is communicatively connected to the conveyor belt 1 and the first controller, and is used to control the movement of the conveyor belt 1 and receive the detection result sent by the first controller.

[0092] From Figure 1 the embodiments shown, it can be seen that in the on-line detection system for stamping parts provided by the embodiments of the present application, the camera mechanism 22 in the vision detection device is installed at the end of the following component 211 of the following mechanism 21, so that the first controller of the vision detection device 2 can control the movement of the following component 21 when the stamping part 100 on the conveyor belt 1 enters the shooting range of the camera mechanism 22, so that the camera mechanism 22 moves synchronously with the stamping part 100 on the conveyor belt 1, and control the camera mechanism 22 to collect an image of the stamping part during the synchronous movement with the stamping part 100, and detect the stamping part based on the collected image to obtain a detection result. Thus, on-line detection of stamping parts moving on the conveyor belt in the stamping part production line is realized.

[0093] Meanwhile, since the camera mechanism 22 can move synchronously with the stamping parts 100 on the conveyor belt 1, the camera mechanism 22 and the stamping parts 100 on the conveyor belt 1 are relatively stationary. Compared with dynamic shooting, the clarity of the images captured by the camera mechanism 22 in a stationary state is higher. Image recognition and detection are performed on the high-definition stamping part images, further ensuring the accuracy of on-line detection.

[0094] Since the stamping part on-line detection system provided by the embodiments of the present application has relatively high detection accuracy, it can be applied to the production lines of various stamping parts to realize automatic on-line detection of the entire production line. Especially in the field of automobile production, it can be widely used in the production of stamping workshops of automobile manufacturers.

[0095] As Figure 1 shown, in the first embodiment of the on-line detection system provided by the present application, the follow-up mechanism 21 of the vision detection device 2 can be the first robotic arm 21a. For the specific structure of the vision detection device 2, refer to Figure 1 and Figure 2 , Figure 2 which are Figure 1 the structural schematic diagrams of the vision detection devices in the shown embodiments. As Figure 1 shown, the first robotic arm 21a can be installed on the detection station 213 on the side of the conveyor belt 1.

[0096] As Figure 1 and Figure 2 shown, the first robotic arm 21a includes: a first robotic arm base 210a fixedly installed on the detection station 213 and a first movable arm 211a installed on the first robotic arm base 210a; the camera mechanism 22 is installed at the end 212a of the first movable arm 211a; the first controller in this embodiment can be installed in the base 210a of the first robotic arm 21a and is electrically connected to the camera mechanism 22 and the first movable arm 211a to control the movement of the first movable arm 211a and the image acquisition of the camera mechanism 22. In this way, the camera mechanism 22 can move synchronously with the stamping parts 100 on the conveyor belt 1 under the drive of the first movable arm 211a. The first controller can also control the camera mechanism 22 to collect images of the stamping parts 100 during the synchronous movement with the stamping parts 100, perform detection on the stamping parts 100 based on the collected images, obtain the detection results, and send the detection results to the control device.

[0097] In this embodiment, the first robotic arm 21a is used as the follow-up mechanism 21 of the vision detection device 2, which has a large degree of freedom and can ensure that the camera mechanism 22 and the stamping part 100 on the conveyor belt 1 move synchronously for a sufficient distance and shooting range, so that the camera mechanism 22 can take a sufficient number of images or a sufficient length of video of the stamping part 100, thereby meeting the requirements of image recognition and detection. For example, the first robotic arm 21a can be a six-axis robotic arm with six degrees of freedom in six directions.

[0098] As Figure 1 shown, the first position detection device 3 can be installed on the first positioning station 31 on the side of the conveyor belt 1. Along the conveying direction of the conveyor belt 1, the first positioning station 31 is adjacent to the detection station 213, and the detection station 213 is located behind the first positioning station 31.

[0099] As mentioned above, the first position detection device 3 is used to detect the position of the stamping part 100. In the case of detecting that the stamping part 100 enters the shooting range of the camera mechanism 22, it notifies the first controller. Therefore, in this embodiment, the first position detection device 3 is installed on the first positioning station 31 in front of the detection station 213, so that it can detect in time that the stamping part 100 enters the shooting range of the camera mechanism 22.

[0100] Specifically, the first position detection device 3 can be a detection device including a first intelligent camera (as Figure 1 shown) or a first photoelectric sensor; wherein, the first intelligent camera is used to detect in real time whether there is a stamping part moving into the shooting range of the camera mechanism on the conveyor belt based on image recognition technology; the first photoelectric sensor is used to detect in real time whether there is a stamping part moving to the shooting range of the camera mechanism on the conveyor belt based on the principle of light reflection by an object.

[0101] In this embodiment, the intelligent camera or the photoelectric sensor is a relatively common position detection device in the field of machine recognition. Therefore, the first position detection device 3 adopts an intelligent camera or a photoelectric sensor, so that the online detection system provided by this application embodiment is not complex and has good compatibility.

[0102] See Figure 1 、 Figures 3a to 3c and Figure 4 , where Figure 3a 、 3b 、3c are Figure 1 shown in the structural schematic diagram of the camera mechanism in the embodiment; Figure 4 For Figure 1 shown in the structural schematic diagram of the light source frame in the embodiment. As Figure 1 、 Figures 3a to 3c and Figure 4As shown in the figure, the camera mechanism 22 in this embodiment may include: a connecting frame 221, a light source frame 222, and multiple cameras 223. Among them, the top 2211a of the connecting frame 221 is fixedly connected to the end 212a of the follower member 211 (i.e., Figure 1 the first movable arm 211a in

[0103] ), and the bottom 2211b of the connecting frame 221 is fixedly connected to the top of the light source frame 222. Figure 3a and Figure 4 As shown in

[0104] and

[0105] , the light source frame 222 may be a conical three-dimensional frame with an opening facing the conveyor belt, including: a top surface light source 2221 provided on the top of the conical three-dimensional frame, that is, the inner wall of the top surface 2220 of the light source frame 222, and a conical surface light source 2222 provided on the inner wall of the conical surface of the conical three-dimensional frame; a first through hole 2223 is provided on the top surface light source 2221; the conical surface light source 2222 is provided with a plurality of second through holes 2224 evenly along the conical surface. The first through hole 2223 and each of the second through holes 2224 are respectively used to install a camera 223 facing the conveyor belt 1. Figure 1 、 Figures 3a to 3c and Figure 4 As shown in

[0106] , in this embodiment, the conical three-dimensional frame of the light source frame 222 includes: a top surface 2220 and four inclined surfaces 2225; the top surface light source 2221 may be provided on the inner wall of the top surface 2220; the number of conical surface light sources 2222 is four, which are respectively provided on the inner walls of the four inclined surfaces 2225. A camera 223 is respectively installed on the second through holes 2224 on the four inclined surfaces 2225, and the lenses of these four cameras 223 respectively pass through the four inclined surfaces 2225 and face the conveyor belt 1. In practical applications, both the top surface light source 2221 and the conical surface light source 2222 can be realized by a plurality of LED lamp beads 2226 arranged evenly. Figure 1 、 Figures 3a to 3c and Figure 4 As shown in Figure 3cAs shown, the first through hole 2223 can be a long strip hole with a length greater than the base of the camera. The camera 223 can be installed in the long strip hole. Since the length of the long strip hole is greater than the base of the camera 223, the position of the camera 223 in the length direction of the long strip hole can be further adjusted by the position of the base of the camera 223 in the long strip hole, so that the shooting position is more accurate, thereby improving the clarity of the captured image.

[0107] As Figure 1 , Figures 3a to 3c and Figure 4 As shown, in this embodiment, the four sides of the top surface 2220 of the light source frame extend outward to form four camera suspension plates 2227. The four cameras 223 are respectively suspended on the four camera suspension plates 2227, and the lenses 2231 of the four cameras 223 respectively pass through a second through hole 2224 and face the conveyor belt 1.

[0108] As Figures 3a to 3c and Figure 4 As shown, in this embodiment, the four cameras 223 are respectively suspended on the four camera suspension plates 2227 through a camera suspension structure 2228. Each camera suspension structure 2228 includes a suspension rotating shaft 2229. The angles of the four cameras 223 facing the conveyor belt 1 can be finely adjusted through the suspension rotating shaft 2229, so that the shooting angle is more accurate, thereby improving the clarity of the captured image.

[0109] In this embodiment, the camera mechanism 22 adopts an optical mechanism design with multiple cameras and multiple-sided light sources, and a five-sided light imaging design. The four sides and the top are all surface lights. The light source is a conical three-dimensional frame with openings at the top and one hole on each of the four conical surfaces, so as to realize multi-angle shooting by five cameras. In practical applications, it can realize imaging of features such as holes, cracks, necking, concave-convex injuries, pressing injuries or scratches.

[0110] In addition, synchronous movement can be achieved in two ways:

[0111] The first way: In the first controller, the moving speed of the conveyor belt 1 is pre-stored; when the stamping part 100 enters the shooting range of the camera mechanism 22, the first controller controls the follower part 211 (for example: the first movable arm 211a) to move at the pre-stored moving speed of the conveyor belt 1, so that the camera mechanism 22 can move synchronously with the stamping part 100 on the conveyor belt 1 under the drive of the follower part 211.

[0112] The second method: When the conveyor belt 1 is started, the control device sends the moving speed of the conveyor belt 1 to the first controller; when the stamped part 100 enters the shooting range of the camera mechanism 22, the first controller controls the follower member 211 (for example: the first movable arm 211a) to move at the pre-stored moving speed of the conveyor belt 1, so that the camera mechanism 22 can move synchronously with the stamped part 100 on the conveyor belt 1 under the drive of the follower member 211.

[0113] In some embodiments, the on-line detection system for stamped parts may further include: a second robotic arm 4, a second position detection device 5, and a material sorting table 6 to realize the collection and / or sorting of on-line incoming materials.

[0114] See Figure 5 , Figure 5 FIG. 2 is a schematic structural diagram of Embodiment 2 of the on-line detection system for stamped parts provided by the embodiment of the present application. As Figure 5 shown, in this embodiment, the number of vision detection devices 2 is two. Each vision detection device 2 includes: a first controller, a camera mechanism 22, and a first robotic arm 21a; wherein, the two first robotic arms 21a are respectively arranged on the detection stations 213 on both sides of the conveyor belt 1; each camera mechanism 22 is used to capture a complete image of the stamped part 100; or is used to respectively capture half of the complete image of the stamped part 100; each first controller respectively detects the stamped part 100 based on the images collected by the camera mechanisms 22 connected thereto, obtains a detection result, and then sends the detection result to the control device; the number of the first position detection devices 3 is two, which are respectively installed on the first positioning stations 31 on both sides of the conveyor belt 1, and each first position detection device 3 is electrically connected to a first controller.

[0115] In this embodiment, two camera mechanisms 22 in the two vision detection devices 2 can respectively capture complete images of the stamped part 100, and after respectively detecting, send the detection results to the control device. The control device can synthesize the two detection results to obtain a final result. It is also possible to use the two camera mechanisms 22 in the two vision detection devices 2 to respectively capture half of the images of the stamped part 100, and after respectively detecting, send the detection results to the control device. The control device can combine the two detection results to obtain a final result, so that the detection result is more accurate.

[0116] In practical applications, for relatively large stamped parts 100, the method of each capturing half can be adopted for detection to ensure that all parts of the stamped part 100 are fully captured and detected.

[0117] As Figure 5As shown in the figure, the system further includes: a second robotic arm 4, a second position detection device 5, and a material distribution table 6. Among them, the second robotic arm 4 is arranged at the grasping station 41 on the side of the conveyor belt 1, and is located behind the first robotic arm 21a of the vision detection device 2 along the conveying direction of the conveyor belt 1.

[0118] As Figure 5 shown in the figure, the second robotic arm 4 includes: a second robotic arm base 42 fixedly arranged at the grasping station 41 and a second movable arm 43 mounted on the second robotic arm base 42; a grasping mechanism 44 is arranged at the end 40 of the second movable arm 43; a second controller (not shown in the figure) is arranged in the second robotic arm base 42, and the second controller is electrically connected to the second movable arm 43 and the grasping mechanism 44.

[0119] As Figure 5 shown in the figure, the material distribution table 6 is arranged adjacent to the second robotic arm 4 correspondingly.

[0120] As Figure 5 shown in the figure, the second position detection device 5 is arranged at the second positioning station 51 on the side of the conveyor belt 1, and is used to detect the position of the stamping part 100 on the conveyor belt 1. In the case of detecting that the stamping part 100 enters the grasping area of the second robotic arm 4, it notifies the second controller; the second controller is used to grasp the current stamping part 100 on the conveyor belt 1 into the corresponding material distribution table 6 in the case of the stamping part 100 entering the grasping area of the second robotic arm 4.

[0121] Specifically, the second position detection device 5 in this embodiment can adopt the same structure as the first position detection device 3, and specifically can include: a second intelligent camera or a second photoelectric sensor; the second intelligent camera is used to detect in real time whether the stamping part enters the grasping area of the second robotic arm based on image recognition technology; the second photoelectric sensor is used to detect in real time whether the stamping part enters the grasping area of the second robotic arm based on the principle of light reflection by an object.

[0122] In this embodiment, through the second robotic arm 4, the second position detection device 5, and the material distribution table 6, on the basis of completing the online detection, the online incoming materials after detection can be further collected.

[0123] See Figure 6 , Figure 6 For Figure 5 the layout schematic diagram of the detection station 213, the first positioning station 31, the grasping station 41, the second positioning station 51, and the material distribution table 6 in the shown embodiment. As Figure 5 and Figure 6As shown, in this embodiment, the number of visual inspection devices 2 is two, and the numbers of the second robotic arms 4, the second position detection devices 5, and the blanking tables 6 can also be two. The two second robotic arms 4 are respectively arranged at two grasping stations 41 on both sides of the conveyor belt 1. The two second position detection devices 5 are respectively arranged at two second positioning stations 51 on both sides of the conveyor belt 1. Along the conveying direction of the conveyor belt 1, the two second position detection devices 5 are located at the rear side of the first robotic arm 21a of the visual inspection device 2 and at the front side of the two second robotic arms 4. The two blanking tables 6 are respectively arranged at adjacent positions of the two second robotic arms 4.

[0124] In this embodiment, the second controllers (not shown in the figure) in the bases 42 of the two second robotic arms 4 are respectively electrically connected to the two second position detection devices 5. The second controller is used to grasp the current stamped part 100 on the conveyor belt 1 into the corresponding blanking table 6 when the stamped part 100 enters the grasping area of the second robotic arm 4.

[0125] In practical applications, the control device can control the two second robotic arms 4 to alternately grasp the stamped parts 100 and place them into the corresponding blanking tables 6, which can disperse the inspected stamped parts 100 to different blanking tables 6. In addition, after receiving the detection result sent by the first controller of the visual inspection device 2, the control device can also control one of the second robotic arms 4 to grasp the defect-free stamped parts 100 and place them into the corresponding one blanking table 6, and control the other second robotic arm 4 to grasp the defective stamped parts 100 and place them into the corresponding other blanking table 6.

[0126] In practical applications, the numbers of the first robotic arm 21a, the first position detection device 3, the second robotic arm 4, the second position detection device 5, and the blanking table 6 can be flexibly set according to actual needs.

[0127] Figure 7 It is a schematic structural diagram of the third embodiment of the on-line inspection system for stamped parts provided by the embodiment of the present application; as Figure 7 shown, in this embodiment, the number of the first robotic arms 21a can be one group, that is, two first robotic arms 21a respectively located on both sides of the conveyor belt 1. The number of the first position detection devices 3 is the same as that of the first robotic arms 21a. The number of the second robotic arms 4 can be three groups, that is, six second robotic arms 4 respectively located on both sides of the conveyor belt 1. The numbers of the second position detection devices 5 and the blanking tables 6 are the same as that of the second robotic arms 4.

[0128] See Figure 8 and Figure 9 , Figure 8 It is a schematic structural diagram of the fourth embodiment of the on-line inspection system for stamped parts provided by the embodiment of the present application; Figure 9 is Figure 8In the illustrated embodiment, a layout schematic diagram of the detection station 213, the first positioning station 31, the grasping station 41, and the second positioning station 51.

[0129] As Figure 8 and Figure 9 shown, the on-line detection system of this embodiment may include: multiple groups of first robotic arms 21a, multiple groups of detection stations 213, multiple groups of first position detection devices 3, multiple groups of first positioning stations 31, as well as multiple groups of second robotic arms 4, multiple groups of grasping stations 41, multiple groups of second position detection devices 5, multiple groups of second positioning stations 51, and multiple material separation tables 6. Among them, the number of the first robotic arms 21a, the detection stations 213, the first position detection devices 3, and the first positioning stations 31 is the same; the number of the second robotic arms 4, the grasping stations 41, the second position detection devices 5, the second positioning stations 51, and the material separation tables 6 is the same.

[0130] Specifically, multiple groups of detection stations 213 are respectively arranged on both sides of the conveyor belt 1; multiple groups of first positioning stations 31 are also respectively arranged on both sides of the conveyor belt 1, and along the conveying direction of the conveyor belt 1, they are arranged in a staggered manner corresponding to the multiple groups of detection stations 213 one by one, and each first positioning station 31 is located in front of a detection station 213.

[0131] Multiple groups of second positioning stations 51 are respectively arranged on both sides of the conveyor belt 1. Among them, the first group of second positioning stations 51 is located behind the last group of first robotic arms 21a along the conveying direction of the conveyor belt 1; multiple groups of grasping stations 41 are respectively arranged on both sides of the conveyor belt 1 and are arranged in a staggered manner corresponding to the second positioning stations 51 one by one. That is to say, along the conveying direction of the conveyor belt 1, each second positioning station 51 is located in front of a grasping station 41. Each material separation table 6 is correspondingly and adjacently arranged with a second robotic arm 4.

[0132] As Figure 8 and Figure 9 shown, there are multiple groups of vision detection devices 2 in this embodiment, and the number of each group is two. The two first robotic arms 21a of each group of vision detection devices 2 are respectively arranged on a detection station 213; the multiple groups of first position detection devices 3 in this embodiment are respectively installed on a first positioning station 31, and each first position detection device 3 is electrically connected to the first controller of the adjacent vision detection device 2.

[0133] The first controller (not shown in the figure) of each vision detection device 2 respectively detects one or two preset defect items of the stamping part 100 based on the images collected by the respective connected camera mechanisms 22, obtains the detection results of the respective preset defect items, and sends the detection results to the control device (not shown in the figure).

[0134] In this embodiment, two sets of vision detection devices 2 are adopted. Each set of vision detection devices 2 can detect one or two types of defects. For example, along the conveying direction of the conveyor belt, the two vision detection devices 2 in the first set can detect unevenness and / or scratch marks; the vision detection devices 2 in the second set can detect defects such as holes, cracks or burrs. If there are more defects to be detected, more vision detection devices 2 can be set up for detection. Compared with the method of using one vision detection device 2 to detect all defects, in this embodiment, different defect detection items can be dispersed to each vision detection device 2 for detection, which improves the implementation processing speed of the image data of each vision detection device.

[0135] As Figure 8 and Figure 9 shown, multiple sets of second position detection devices 5 in this embodiment are respectively installed on a second positioning station 51, and each second position detection device 5 is electrically connected to the second controller in the adjacent second robotic arm 4.

[0136] In addition, in this embodiment, the second robotic arm 4 cooperates with the second position detection device 5 and the sorting table 6 to achieve two classification functions:

[0137] First, in the case of multiple stamping parts products on the production line, classification is based on the product type.

[0138] In this case, each second controller can communicate with each first controller, receive the product type information of the current stamping part 100 on the conveyor belt 1 sent by each first controller when the detection result shows that the current stamping part has no defects; and when the product type of the current stamping part 100 is consistent with the preset product type of itself, control the corresponding second movable arm 43 and the grasping mechanism 44 at its end to grab the current stamping part 100 into the corresponding sorting table 6.

[0139] In other embodiments, each second controller can communicate with a control device, receive the product type information of the current stamping part 100 on the conveyor belt 1 obtained based on the detection result that the current stamping part has no defects sent by the control device; and when the product type of the current stamping part 100 is consistent with the preset product type of itself, control the second movable arm 43 and the grasping mechanism 44 at its end to grab the current stamping part 100 into the corresponding sorting table 6.

[0140] Specifically, in addition to defect detection of the stamping part 100 based on the images captured by the camera mechanism 22 electrically connected thereto, each first controller can further perform image recognition based on the captured images to obtain the product type of the current stamping part 100, and after obtaining the detection result, send the detection result and the product type information of the current stamping part 100 to the second controller or the control device.

[0141] Second, in the case of having a stamping part product on the production line, classification is performed based on the defect type.

[0142] In this case, each second controller is communicatively connected to the first controller, and receives the defect type information of the current stamping part 100 on the conveyor belt 1 sent by each first controller when the detection result is that the current stamping part is defective; and when the defect type of the current stamping part 100 is consistent with the preset defect type of itself, controls the corresponding second movable arm 43 and the gripping mechanism 44 at its end to grip the current stamping part 100 into the corresponding material separation table 6; or,

[0143] Each second controller is communicatively connected to the device, and receives the defect type information of the current stamping part 100 on the conveyor belt 1 obtained based on the detection result that the current stamping part is defective sent by the control device; and when the defect type of the current stamping part 100 is consistent with the preset defect type of itself, controls the second movable arm 43 and the gripping mechanism 44 at its end to grip the current stamping part 100 into the corresponding material separation table 6.

[0144] This method actually classifies and removes defective stamping parts according to the defect type (material separation table), and when processing subsequently, it can further perform weighted grading according to different defects through software to achieve flexible quality control.

[0145] Such as Figure 8 and Figure 9As shown in the figure, the online detection system of this embodiment may further include: a waste temporary storage mechanism 7 provided at the tail 11 of the conveyor belt; the control device in this embodiment is further configured to, when the detection result sent by the first controller indicates that the stamped part 100 is a defective stamped part, control the conveyor belt 1 to convey the defective stamped part 100 to the tail 11 of the conveyor belt at a preset waste conveying speed so that it is placed in the waste temporary storage mechanism 7. Specifically, the defective stamped part 100 can be manually moved to the waste temporary storage mechanism 7, or a robotic arm can be further provided to grab it into the waste temporary storage mechanism 7 through the robotic arm. In addition, the waste temporary storage mechanism 7 can also be a loading platform provided on a mobile handling trolley. After the conveyor belt 1 conveys the defective stamped part 100 to the tail 11 of the conveyor belt, the mobile handling trolley moves the defective stamped part 100 to the loading platform through the robotic arm provided therein. Then, the mobile handling trolley can transport the defective stamped part 100 to the repair workshop for repair. It can be seen that by applying this embodiment, the timely recovery and repair of waste can be realized, and the production efficiency is further improved.

[0146] See Figure 10 , Figure 10 is a schematic structural diagram of Embodiment 5 of the stamped part online detection system provided by the embodiment of the present application. As Figure 10 shown, the follow-up mechanism 21 in this embodiment is a follow-up sliding table 21b; the follow-up sliding table 21b includes: two first slide rails 2111, a second slide rail 2112 and a third slide rail 2113; wherein, the two first slide rails 2111 are respectively erected on both sides of the conveyor belt 1 through a support base 210b; the second slide rail 2112 straddles the two first slide rails 2111 and is slidably connected to the two first slide rails 2111 along the extension direction of the conveyor belt 1 through two first sliders 2114; the third slide rail 2113 is vertically arranged in the up and down direction on the second slide rail 2112 and is horizontally slidably connected to the second slide rail 2112 through a second slider 2115; on the side of the third slide rail 2113 away from the second slider 2115, an installation track 2117 is provided; the camera mechanism 22 is slidably connected to the installation track 2117 in the up and down direction through a third slider 2116. As Figure 10 shown, a fixing member 2118 is further provided between the two first slide rails 2111, for example: it can be a metal connecting rod, which is used to maintain the distance between the two first slide rails 2111.

[0147] In this embodiment, drive motors (not shown in the figure) are provided on the first slider 2114, the second slider 2115, and the third slider 2113. Among them, the first controller of the vision detection device 2 can be arranged on the support base 210b or any slide rail, and is electrically connected to each drive motor to control each drive motor to drive the first slider 2114, the second slider 2115, and the third slider 2113 to slide on the first slide rail 2111, the second slide rail 2112, and the installation track 2117, so that the camera mechanism 22 of the vision detection device 2 can move synchronously with the stamping parts 100 on the conveyor belt 1 under the drive of the follow-up slide table 21b.

[0148] In this embodiment, the follow-up slide table 21b is used as the follow-up mechanism 21. Although the degree of freedom is slightly worse than that of the first robotic arm 21a, the relative robotic arm structure is simple and the cost is low. It can be applied to production scenarios with low requirements for the degree of freedom.

[0149] As can be seen from the above embodiments, the online detection system provided by the embodiments of the present application can be successfully applied to the automatic production line of automotive stamping parts of a stamping machine. Through the follow-up mechanism, the camera mechanism 22 of the vision detection device 2 can move synchronously with the stamping parts on the production line, ensuring the clarity of image shooting, realizing real-time full online detection of defects generated during the production process of stamping parts such as holes, concavities and convexities, sub-scratches, cracks, necking, burrs, etc., and being able to stably remove defective products in a timely manner, improving the product yield and protecting the brand value.

[0150] Moreover, the camera mechanism 22 of the vision detection device 2 in this embodiment can be Figures 3a to 4 the structure shown, so that the captured image can achieve full-angle coverage of the stamping parts, and the optical illumination conditions ensure the stability of defect features.

[0151] First, installing the vision detection device 2 on the robotic arm or the follow-up slide table realizes the synchronous movement of the camera mechanism 22 of the vision detection device 2 with the stamping parts on the production line. Secondly, after the stamping parts come out of the press, they are placed on the conveyor belt and move. Using an intelligent camera or sensor as the first detection device, the position of the parts can be sensed and transmitted to the robotic arm or the follow-up slide table. The robotic arm or the follow-up slide table drives the camera of the camera mechanism 22 to collect images, realizing the follow-up shooting of the stamping parts and ensuring the production efficiency rhythm. Thirdly, based on the stable images, high-efficiency detection of the stamping parts is realized by means of various algorithm technologies such as deep learning object detection and image arithmetic operations. Finally, in some embodiments, multiple third robotic arms can be added, which can not only realize the sorting of defect-free stamping parts according to product types, but also realize the rejection and sub-framing according to defective parts, or weighted grading according to different defects, further realizing flexible quality control.

[0152] Next, a detailed description of the vision detection device provided in the embodiments of the present application will be given.

[0153] The vision detection device provided in the embodiments of the present application is applied to the in-line detection system for stamped parts in the above embodiments; specifically, reference can be made to Figure 2 , the vision detection device includes: a follow-up mechanism 21, a camera mechanism 22, and a first controller ( Figure 2 not shown in ); the follow-up mechanism 21 includes: a base 210 provided on the side of the conveyor belt 1 and a follow-up component 211 mounted on the base 210; the camera mechanism 22 is mounted at the end 212 of the follow-up component 211.

[0154] Among them, the first controller is electrically connected to the camera mechanism 22 and the follow-up component 211; it is used to control the movement of the follow-up component 211 when the stamped part 100 enters the shooting range of the camera mechanism 22, so that the camera mechanism 22 can move synchronously with the stamped part 100 on the conveyor belt 1 under the drive of the follow-up component 211, and control the camera mechanism 22 to collect an image of the stamped part 100 during the synchronous movement with the stamped part 100, and detect the stamped part 100 based on the collected image to obtain a detection result.

[0155] As described above, Figure 2 the follow-up mechanism 21 of the vision detection device in can be the first robotic arm 21a, and its specific structure is the same as that of the first robotic arm 21a in Embodiment 1 of the above-mentioned in-line detection system for stamped parts, which will not be repeated here. In other embodiments, the follow-up mechanism 21 can be a follow-up slide table 21b, and its specific structure is the same as that of Embodiment 5 of the above-mentioned in-line detection system for stamped parts, please refer to Figure 10 , which will not be repeated here.

[0156] By arranging the camera mechanism 22 at the end of the follow-up mechanism 21, for example: at the end of the first robotic arm 21a or at the end of the follow-up slide table 21b, the vision detection device provided in the embodiments of the present application enables the first controller of the vision detection device to control the follow-up component to move synchronously with the stamped part on the conveyor belt, and control the camera mechanism to collect an image of the stamped part during the synchronous movement with the stamped part, and detect the stamped part based on the collected image to obtain a detection result. Furthermore, on-line detection of the stamped parts moving with the conveyor belt on the stamped part production line is realized.

[0157] The specific structure of the camera mechanism 22 in the vision detection device provided in the embodiments of the present application can be the same as that of the camera mechanism 22 in Embodiment 1 of the above-mentioned in-line detection system for stamped parts, please refer to Figure 1 , Figures 3a to 3c and Figure 4 , which will not be repeated here.

[0158] Next, the online inspection method for stamped parts provided by the embodiments of the present application will be described in detail.

[0159] The embodiments of the present application provide two online inspection methods for stamped parts, which are respectively applied to the first controller and the control device of the vision inspection device in the aforementioned online inspection system. The following will be described separately.

[0160] See Figure 11a , Figure 11a is a schematic flowchart of Embodiment 1 of the online inspection method for stamped parts applied to the first controller provided by the embodiments of the present application; as Figure 11a shown, the process includes the following steps:

[0161] Step S110, receive the first notification message sent by the first position detection device in the system.

[0162] Among them, the first notification message is used to indicate that the first position detection device detects that the stamped part enters the shooting range of the camera mechanism.

[0163] Step S111, obtain the moving speed of the conveyor belt.

[0164] In this embodiment, there are two ways to obtain the moving speed of the conveyor belt:

[0165] The first: In the first controller, the moving speed of the conveyor belt is pre-stored; in this step, it can be to read the pre-stored moving speed of the conveyor belt.

[0166] The second: Receive the moving speed of the conveyor belt sent by the control device when the conveyor belt is started.

[0167] Step S112, control the follower component to move at the moving speed of the conveyor belt, so that the camera mechanism can move synchronously with the stamped part on the conveyor belt under the drive of the follower component, and control the camera mechanism to collect images of the stamped part during the synchronous movement with the stamped part.

[0168] The camera mechanism in this embodiment may include: a connecting frame, a light source frame, and multiple cameras; the light source frame is a conical three-dimensional frame with an opening facing the conveyor belt, including: a top surface light source provided on the inner wall of the top of the conical three-dimensional frame and a conical surface light source provided on the inner wall of the conical surface of the conical three-dimensional frame.

[0169] In this step, after receiving the first notification message, the first controller turns on the top surface light source and each conical surface light source, and controls each camera to simultaneously capture images during the synchronous movement with the stamped part at a preset shooting frequency until the stamped part moves out of the shooting range of the camera mechanism.

[0170] For example, the shooting time of each camera can be controlled to be 25 ms, that is, the cyclic shooting can be performed at a frequency of once every 25 ms to ensure the integrity of the captured images.

[0171] Step S113: Detect the stamping part based on the captured image to obtain a detection result.

[0172] Step S114: Send the obtained detection result to the control device.

[0173] This embodiment is applied to the first controller in the aforementioned on-line detection system for stamping parts. When the stamping part 100 enters the shooting range of the camera mechanism 22, it can control the movement of the follower part 211, so that the camera mechanism 22 can move synchronously with the stamping part 100 on the conveyor belt 1 under the drive of the follower part 211, and control the camera mechanism 22 to capture the image of the stamping part 100 during the synchronous movement with the stamping part 100, and detect the stamping part 100 based on the captured image to obtain a detection result; since the camera mechanism 22 can move synchronously with the stamping part 100 on the conveyor belt 1, the camera mechanism 22 and the stamping part on the conveyor belt 1 are relatively stationary. Compared with dynamic shooting, the clarity of the image captured by the camera mechanism 22 in the stationary state is higher, and the image recognition and detection of the high-definition stamping part image further ensure the accuracy of on-line detection.

[0174] Specifically, Figure 11a In step S113 of <>, detecting the stamping part based on the captured image to obtain a detection result may include: detecting one or more defect items such as whether the position of the holes on the stamping part is accurate, whether there are unevenness, whether there are bruises, whether there are scratches, whether there are cracks, whether there is necking phenomenon in the cross section or whether there are burrs based on the captured image to obtain a detection result.

[0175] See Figure 11b , the principle flow of the first controller detecting the stamping part in this embodiment. This flow is the main steps of detecting the stamping part based on the image captured by the first controller controlling the camera mechanism, including:

[0176] Step S1130: Input the image.

[0177] In this embodiment, software for detection is set in the first controller. This step is to input the image captured by the camera mechanism 22 into this software for detection.

[0178] Step S1131a: Perform hole detection.

[0179] This step can adopt a target detection algorithm to perform image recognition on the captured image and detect the position of the holes in the image.

[0180] Step S1131b, locate the detection area.

[0181] In this step, the acquired image can be divided into regions according to the positions of the holes that should normally exist on the stamping part, and the first region of the holes to be detected is divided. The first region indicates the positions of the holes under normal conditions. At the same time, according to the positions of each weld on the stamping part and the positions where cracking may occur determined by experience, the acquired image is divided into regions, and the second region of the cracking to be detected is divided. The second region indicates the regions where cracking may occur. That is to say, this step locates two detection regions of the holes to be detected and the cracking.

[0182] Step S1131c, perform cracking detection.

[0183] In this step, a change detection algorithm can be used to perform image recognition on the acquired image to detect the positions in the image where there are cracking changes from the normal image.

[0184] Step S1131d, divide the detection area.

[0185] In this step, the acquired image can be divided into regions according to preset rules. For example, it can be evenly divided according to the area size, or divided according to the functions of different regions. Each divided region is used to detect defects such as concave-convex damage and pressing scratches.

[0186] Step S1132, draw the hole detection area.

[0187] In this step, in the acquired image, the first regions of each hole to be detected can be drawn. For example, a dotted line frame of a certain color can be drawn at the edge of each first region.

[0188] Step S1133, draw the cracking detection area.

[0189] In this step, in the acquired image, the second regions of each cracking to be detected can be drawn. For example, a dotted line frame of another color can be drawn at the edge of each second region.

[0190] Step S1134, judge the hole detection.

[0191] In this step, the positions of the holes detected in step S113a can be compared with the first regions of each hole to be detected in step S1132. If some of the detected holes are not within the first region, that is, holes appear at positions where there should be no holes, the stamping part has a hole defect. If all the detected holes are within the first region, that is, the positions of the holes are normal, the stamping part has no hole defect.

[0192] Step S1135, Cracking Detection and Judgment.

[0193] In this step, the positions in the image detected in step S113 that have cracking changes compared to the normal image can be compared with the second area to be detected for cracking. It is judged whether the positions with cracking changes are within the second area. If so, the stamping part has a cracking defect; if not, it can be further determined manually whether there is a cracking defect.

[0194] Step S1136, Defect Detection.

[0195] In this step, for each detection area divided in step S1131d, other defect detections such as concave-convex damage and press scratches can be carried out respectively.

[0196] Step S1137, Summary Output of Detection Results.

[0197] In this step, the judgment results obtained in the aforementioned steps S1134 and S1135 and the defect detection results of step S1136 can be summarized and output.

[0198] In addition, weighted grading can also be carried out according to different defects and / or the number of defects to achieve flexible quality control. For example: setting the weight of hole defects higher than the weight of press scratches, and setting a higher defect weight for those with multiple defects, etc.

[0199] Specifically, hole detection can be through a deep learning algorithm to train a model on hole samples, so that the model has the ability to detect and identify holes. By delimiting the detection area, the positions of the holes to be detected are identified and located. If no hole is identified at the specified position, an alarm is given.

[0200] Cracking detection can be through a deep learning algorithm to train a model on cracking samples, so that the model has the ability to detect and identify cracking. By using software to delimit the key detection area positions, the algorithm can have the ability to detect and identify cracking in the key detection area.

[0201] For other defect detections, it can also be through a deep learning algorithm to train a model on defect samples such as concave-convex damage and press scratches, so that the model has the ability to detect and identify defects such as concave-convex damage and press scratches. By using software to delimit the areas where the defects need to be detected, the algorithm can have the ability to detect and identify defects such as concave-convex damage and press scratches in the areas to be detected.

[0202] It should be noted that the specific defect detection algorithm in the embodiments of this application can adopt the algorithms for detecting static images in related technologies. This will not be elaborated here.

[0203] As described above, the on-line inspection system for stamped parts provided by the embodiments of the present application may further include: a second robotic arm, a second position detection device, and a blanking table. In this case, the on-line inspection method applied to the first controller can be referred to Figure 12 . Figure 12 FIG. 2 is a schematic flowchart of Embodiment 2 of the on-line inspection method for stamped parts applied to the first controller provided by the embodiments of the present application. As Figure 12 shown, on the basis of the process shown in Figure 11a shown, the method further includes:

[0204] Step S115a, when the inspection result is that the current stamped part is defect-free, send the inspection result to the second controller provided on the base of the second robotic arm, so that when the second controller receives the second notification message sent by the second position detection device, control the second movable arm of the second robotic arm and the grasping mechanism at its end to grasp the current stamped part into the blanking table; wherein, the second notification message is used to indicate that the second position detection device detects that the stamped part enters the grasping area of the second robotic arm.

[0205] In other embodiments, the number of the second robotic arm, the second position detection device, the second controller, and the blanking table in the on-line inspection system for stamped parts is multiple. In this case, the on-line inspection method can be referred to Figure 13 , Figure 13 FIG. 3 is a schematic flowchart of Embodiment 3 of the on-line inspection method for stamped parts applied to the first controller provided by the embodiments of the present application. As Figure 13 shown, on the basis of the process shown in Figure 11a shown, the method further includes:

[0206] Step S115b, when the inspection result is that the current stamped part is defect-free, send the inspection result and the product type information of the current stamped part to each second controller, so that each second controller, when receiving the second notification message sent by the second position detection device electrically connected thereto and the product type of the current stamped part is consistent with the preset product type of itself, controls the corresponding second movable arm and the grasping mechanism at its end to grasp the current stamped part into the corresponding blanking table.

[0207] In other embodiments, Step S115b may also include: when the inspection result is that the current stamped part is defective, send the inspection result and the defect type information of the current stamped part to each second controller, so that each second controller, when receiving the second notification message sent by the second position detection device electrically connected thereto and the defect type of the current stamped part is consistent with the preset defect type of itself, controls the corresponding second movable arm and the grasping mechanism at its end to grasp the current stamped part into the corresponding blanking table.

[0208] It can be seen that by applying this embodiment, through the cooperation of the second robotic arm 21a, the second position detection device 5, and the material distribution table 6 in the online detection system, two classification functions can be achieved: First, in the case of multiple stamping parts products on the production line, classification is based on the product type. Second, in the case of one stamping parts product on the production line, classification is based on the defect type.

[0209] See Figure 14 , Figure 14 is a schematic flowchart of the first embodiment of the online stamping parts detection method applied to the control device provided by the embodiment of the present application; the process includes:

[0210] Step S140, control the conveyor belt to move;

[0211] Step S141, receive the detection result sent by the first controller in the vision detection device;

[0212] The detection result is: the first controller receives the first notification message sent by the first position detection device; and obtains the moving speed of the conveyor belt; and controls the follow-up component to move at the moving speed of the conveyor belt, so that the camera mechanism can move synchronously with the stamping parts on the conveyor belt under the drive of the follow-up component, and controls the camera mechanism to collect images of the stamping parts during the synchronous movement with the stamping parts, and performs detection on the stamping parts based on the collected images; the first notification message is used to indicate that the first position detection device detects that the stamping parts enter the shooting range of the camera mechanism.

[0213] This embodiment is applied to the control device in the aforementioned online stamping parts detection system. This control device can control the movement of the conveyor belt and can receive the detection result sent by the first controller in the vision detection device in the online detection system. In this way, the control device can perform processing such as output, synthesis, and analysis on the received detection result, and can achieve full production line detection and unified control of the online detection system.

[0214] As described above, the number of vision detection devices provided by the embodiment of the present application in the online stamping parts detection system can be two, which are respectively arranged on both sides of the conveyor belt. Each vision detection device includes: the first controller, the camera mechanism, and the first robotic arm. In this case, the online detection method applied to the control device can be seen in Figure 15 .

[0215] Figure 15 is a schematic flowchart of the second embodiment of the online stamping parts detection method applied to the control device provided by the embodiment of the present application; as Figure 15 shown, Figure 14Step S141 of the illustrated embodiment may specifically include the following in this embodiment:

[0216] Step S141a: Receive the detection results obtained by each of the first controllers detecting the stamping part based on the images collected by the respective cameras connected thereto, where each camera is configured to capture a complete image of the stamping part or half of the complete image of the stamping part respectively.

[0217] In Figure 14 Based on the illustrated embodiment, the method of this embodiment further includes:

[0218] Step S142a: When the received detection results are obtained based on half of the images, combine the detection results sent by the two first controllers to obtain the complete detection result of the stamping part.

[0219] In this embodiment, two cameras in two vision detection devices can be used to capture complete images of the stamping part respectively, and after detection, the detection results are sent to the control device. The control device can combine the two detection results to obtain the final result, making the detection result more accurate. In practical applications, for relatively large stamping parts, two cameras in two vision detection devices can also be used to capture half of the images of the stamping part respectively, and after detection, the detection results are sent to the control device. The control device can combine the two detection results to obtain the final result to ensure that all parts of the stamping part are fully captured and detected.

[0220] As described above, the number of vision detection devices in the on-line detection system for stamping parts provided by the embodiments of the present application can be multiple groups. In this case, the on-line detection method applied to the control device can enable each vision detection device to detect different defects, and finally the control device combines them to obtain the final detection result. For details, please refer to Figure 16 。

[0221] Refer to Figure 16 , Figure 16 which is a schematic flowchart of Embodiment 3 of the on-line detection method for stamping parts applied to the control device provided by the embodiments of the present application. As Figure 16 shown, Figure 14 Step S141 of the illustrated embodiment may specifically include the following in this embodiment:

[0222] Step S141b: Receive the detection results of one or two preset defect items obtained by the first controller of each vision detection device detecting the stamping part based on the images collected by the respective cameras connected thereto.

[0223] Step S142b: Combine the detection results of the preset defect items sent by each of the first controllers to obtain the detection results of all the defect items of the stamping part.

[0224] In this embodiment, multiple sets of vision detection devices are adopted. Each set of vision detection devices can detect one or two types of defects. For example, along the conveying direction of the conveyor belt, two vision detection devices 2 in the first set can detect concavo-convex injuries and / or press scratches; the vision detection devices in the second set can detect defects such as holes, cracks or burrs. If there are more defects to be detected, more vision detection devices can be set for detection. Compared with the method of using one vision detection device to detect all defects, in this embodiment, different defect detection items can be dispersed to each vision detection device for detection, which improves the real-time processing speed of the image data of each vision detection device.

[0225] As mentioned above, in the stamping part online detection system provided by the embodiment of the present application, the vision detection device may further include: a second robotic arm, a second position detection device, and a material distribution table to realize the collection and / or distribution of the incoming materials online. In this case, for the online detection method applied to the control device, reference can be made to Figure 17 .

[0226] Figure 17 It is a schematic flowchart of the fourth embodiment of the stamping part online detection method applied to the control device provided by the embodiment of the present application; as Figure 17 shown, on the basis of Figure 14 , the method further includes:

[0227] Step S143: When the detection result indicates that the current stamping part has no defect, send a grasping instruction to the second controller arranged on the base of the second robotic arm, so that when the second controller receives the second notification message sent by the second position detection device, it controls the second moving arm of the second robotic arm and the grasping mechanism at its end to grasp the current stamping part into the material distribution table; wherein, the second notification message is used to indicate that the second position detection device detects that the stamping part enters the grasping area of the second robotic arm.

[0228] In this embodiment, the control device can control the second robotic arm to grasp the defect-free stamping parts into the material distribution table to concentrate the defect-free stamping parts.

[0229] In other embodiments, the control device can also grasp the defective stamping parts into the material distribution table to concentrate the defective stamping parts for repair, which is also possible. This can be set according to the actual requirements on the production line, and the present application does not make any restrictions.

[0230] In addition, in some embodiments, the number of the second robotic arm, the second position detection device, the second controller, and the blanking table can be multiple. In this case, step S143 described above can specifically include:

[0231] Obtain the detection result sent by the first controller and the product type information of the current stamping part on the conveyor belt; and in the case that the detection result indicates that the current stamping part is defect-free, send the product type information of the current stamping part to each second controller disposed at the base of each second robotic arm, so that each of the second controllers controls the second movable arm and the grasping mechanism at its end to grasp the current stamping part into the corresponding blanking table when the product type of the current stamping part is consistent with the preset product type of itself and the second notification message sent by the second position detection device electrically connected to the second controller is received.

[0232] This method is applicable to the situation where there are multiple types of stamping parts on the production line, and each type of stamping part corresponds to a blanking table. In this way, online sorting of different types of stamping parts on the production line can be achieved, further improving production efficiency.

[0233] In other embodiments, step S143 described above can specifically include:

[0234] In the case that the detection result indicates that the current stamping part is defective, send the detection result and the defect type information of the current stamping part to each second controller, so that each of the second controllers controls the corresponding second movable arm and the grasping mechanism at its end to grasp the current stamping part into the corresponding blanking table when the second notification message sent by the second position detection device electrically connected to it is received and the defect type of the current stamping part is consistent with the preset defect type of itself.

[0235] It can be seen that by applying this embodiment, through the cooperation of the second robotic arm 21a, the second position detection device 5, and the blanking table 6 in the online detection system, two classification functions can be achieved: First, in the case of multiple types of stamping parts products on the production line, classification is based on the product type. Second, in the case of one type of stamping parts product on the production line, classification is based on the defect type.

[0236] As described above, in some embodiments, the stamping part online detection system may further include: a waste temporary storage mechanism disposed at the tail of the conveyor belt, and the waste temporary storage mechanism is used to collect defective stamping parts for repair. Refer to Figure 17 , the method may further include:

[0237] Step S144, in the case that the detection result sent by the first controller indicates that the stamped part is a defective stamped part, control the conveyor belt to convey the defective stamped part to the tail of the conveyor belt at a preset speed for conveying waste, so that it is placed in the waste temporary storage mechanism.

[0238] Specifically, the defective stamped part can be manually moved to the waste temporary storage mechanism, or a robotic arm can be set up to grab it into the waste temporary storage mechanism. In addition, the waste temporary storage mechanism can also be the loading platform of a mobile handling trolley. After the conveyor belt conveys the defective stamped part to the tail of the conveyor belt, the mobile handling trolley uses the robotic arm installed therein to move the defective stamped part onto the loading platform. Then, the mobile handling trolley can transport the defective stamped part to the repair workshop for repair. It can be seen that by applying this embodiment, the timely recovery and repair of waste can be realized, further improving the production efficiency.

[0239] Next, the overall concept of the online detection of the online detection system provided in the embodiments of the present application will be described. Refer to Figure 18 , Figure 18 is the schematic flow chart of the overall concept of the online detection of the online detection system provided in the embodiments of the present application; as Figure 18 shown, the overall concept of the embodiments of the present application includes:

[0240] First, after starting, the case of only one vision detection device will be described. As shown in steps S1801 to S1805 in Figure 18 .

[0241] Step S1801, the belt line (i.e., the conveyor belt) drives the stamped part into place, and the intelligent camera generates an induction signal.

[0242] Specifically, in this step, the belt line is a type of conveyor belt, and the intelligent camera is a type of first position detection device. That is to say, the first position detection device detects that the stamped part on the conveyor belt enters the shooting range of the camera mechanism and sends a first notification message.

[0243] Step S1802, the controller receives the switch signal and divides it into two groups.

[0244] In this step, the controller refers to the first controller in the aforementioned vision detection device, and the switch signal can refer to the first notification message.

[0245] Step S1803a, trigger the detection camera; Step S1803b, the robotic arm / sliding platform follows the movement of the conveyor belt;

[0246] In this step, two groups of signals are respectively used to trigger the detection camera and the robotic arm / sliding platform to move along with the conveyor belt. The camera here refers to the camera mechanism in the aforementioned vision detection device, and the robotic arm / sliding platform refers to the follow-up mechanism in the aforementioned vision detection device.

[0247] Step S1804a: The camera respectively captures images; Step S1804b: The robotic arm / sliding platform keeps relatively stationary with respect to the conveyor belt.

[0248] In this step, the camera mechanism moves synchronously with the stamping parts on the conveyor belt under the drive of the follow-up component, and controls the camera mechanism to capture images of the stamping parts during the synchronous movement with the stamping parts.

[0249] Step S1805: Based on the captured images, target detection, image arithmetic processing, and analysis are performed to determine the defect features in a single / multiple frames.

[0250] In this step, image processing is performed on the captured images to obtain the defect features in the images.

[0251] Secondly, for the case of multiple sets of vision detection devices. As Figure 18 shown in steps S1806 to S1812.

[0252] Step S1806: Determine whether there are multiple sets of vision detection devices. If so, execute steps S1807a and S1807b; if not, directly execute step S1810.

[0253] Step S1807a: Trigger multiple sets of detection cameras; Step S1807b: Multiple sets of robotic arms / sliding platforms move along with the conveyor belt.

[0254] The difference between this step and the aforementioned steps S1803a and S1803b is that the number of cameras and the number of robotic arms / sliding platforms are both multiple sets.

[0255] Step S1808a: Multiple sets of cameras respectively capture images; Step S1808b: Multiple sets of robotic arms / sliding platforms keep relatively stationary with respect to the conveyor belt.

[0256] The difference between this step and the aforementioned steps S1804a and S1804b is that the number of cameras and the number of robotic arms / sliding platforms are both multiple sets.

[0257] Step S1809: Based on the captured images, target detection, image arithmetic processing, and analysis are performed to determine the defect features in a single / multiple frames.

[0258] Step S1810: Based on the obtained defect features, determine whether the stamped part has defects. If there are no defects, execute Step S1811 to make the rejection device not operate and end. If there are defects, execute Step S1812 to make the rejection device perform an action and then end.

[0259] As described above, in the on-line detection system for stamped parts provided by the embodiments of the present application, the rejection device can be a robotic arm. A waste temporary storage mechanism can be arranged at the tail of the conveyor belt. By controlling the conveyor belt to increase the conveying speed and at a preset speed for conveying waste, the defective stamped parts are conveyed to the tail of the conveyor belt, and the robotic arm grabs and places them in the waste temporary storage mechanism.

[0260] In addition, as described above, in the on-line detection system for stamped parts provided by the embodiments of the present application, a second robotic arm, a second position detection device, and a material distribution table can be set. The second robotic arm can be used as a material distribution device to classify the stamped parts of different product types on the production line.

[0261] In other embodiments, the second robotic arm can be used as a rejection device to classify different defects for a certain type of stamped part. For example: Different material distribution tables corresponding to different defects are arranged on both sides of the conveyor belt. When the second detection device detects a defective stamped part and enters the grasping range of a second robotic arm, the second robotic arm can determine whether the defective product type of the defective stamped part is the preset defective product type by itself. If so, it grabs the defective stamped part and places it in its corresponding material distribution table. In this way, the defective stamped parts can be effectively classified and removed from the conveyor belt, further improving the production efficiency.

[0262] Then, the on-line detection device for stamped parts provided by the embodiments of the present application will be described in detail.

[0263] Corresponding to the on-line detection method for stamped parts provided by the embodiments of the present application, the embodiments of the present application also provide two on-line detection devices for stamped parts. Refer to Figure 19 , Figure 19 is a schematic structural diagram of the on-line detection device for stamped parts applied to the first controller provided by the embodiments of the present application; as Figure 19 shown, the device includes:

[0264] A first notification message receiving module 191, configured to receive the first notification message sent by the first position detection device, where the first notification message is used to indicate that the first position detection device detects that the stamped part enters the shooting range of the camera mechanism;

[0265] A speed obtaining module 192, configured to obtain the moving speed of the conveyor belt;

[0266] The first control module 193 is configured to control the follower component to move at the moving speed of the conveyor belt, so that the camera mechanism can move synchronously with the stamped parts on the conveyor belt under the drive of the follower component, and control the camera mechanism to collect images of the stamped parts during the synchronous movement with the stamped parts.

[0267] The detection module 194 is configured to detect the stamped parts based on the collected images to obtain a detection result.

[0268] The result sending module 195 is configured to send the obtained detection result to the control device.

[0269] The on-line detection device provided by the embodiment of the present application can control the follower component to move synchronously with the stamped parts on the conveyor belt, and control the camera mechanism to collect images of the stamped parts during the synchronous movement with the stamped parts, and detect the stamped parts based on the collected images to obtain a detection result. Furthermore, on-line detection of the stamped parts moving with the conveyor belt on the stamped part production line is realized.

[0270] See Figure 20 , Figure 20 which is a schematic structural diagram of the on-line detection device for stamped parts applied to the control device provided by the embodiment of the present application; as Figure 20 shown, the device includes:

[0271] The second control module 2001 is configured to control the movement of the conveyor belt.

[0272] The result receiving module 2002 is configured to receive the detection result sent by the first controller in the vision detection device.

[0273] The detection result is as follows: the first controller receives the first notification message sent by the first position detection device; obtains the moving speed of the conveyor belt; and controls the follower component to move at the moving speed of the conveyor belt, so that the camera mechanism can move synchronously with the stamped parts on the conveyor belt under the drive of the follower component, and controls the camera mechanism to collect images of the stamped parts during the synchronous movement with the stamped parts, and is obtained by detecting the stamped parts based on the collected images; the first notification message is used to indicate that the first position detection device detects that the stamped parts enter the shooting range of the camera mechanism.

[0274] The on-line detection device provided by the embodiment of the present application can control the follower component to move synchronously with the stamped parts on the conveyor belt, and control the camera mechanism to collect images of the stamped parts during the synchronous movement with the stamped parts, and detect the stamped parts based on the collected images to obtain a detection result. Furthermore, on-line detection of the stamped parts moving with the conveyor belt on the stamped part production line is realized.

[0275] In addition, an embodiment of the present application further provides a controller. Refer to Figure 21 , Figure 21 , which is a schematic structural diagram of the controller provided by the embodiment of the present application. The controller includes:

[0276] A memory 2101 for storing a computer program;

[0277] A processor 2102, when executing the program stored in the memory 2101, implements the following steps:

[0278] Receiving a first notification message sent by the first position detection device, where the first notification message is used to indicate that the first position detection device detects that the stamping part enters the shooting range of the camera mechanism;

[0279] Obtaining the moving speed of the conveyor belt;

[0280] Controlling the follower component to move at the moving speed of the conveyor belt, so that the camera mechanism can move synchronously with the stamping part on the conveyor belt under the drive of the follower component, and controlling the camera mechanism to collect an image of the stamping part during the synchronous movement with the stamping part;

[0281] Detecting the stamping part based on the collected image to obtain a detection result;

[0282] Sending the obtained detection result to the control device.

[0283] In an embodiment of the present application, the above-mentioned controller may further include a communication bus and / or a communication interface, and the processor 2102, the communication interface, and the memory 2101 complete mutual communication through the communication bus.

[0284] In addition, the above-mentioned controller may further include a communication module, for example: a wired communication module or a wireless communication module, for communicating and connecting with the first controller.

[0285] An embodiment of the present application further provides a control device. Refer to Figure 22 , Figure 22 , which is a schematic structural diagram of the control device provided by the embodiment of the present application. The control device includes:

[0286] A memory 2201 for storing a computer program;

[0287] A processor 2202, when executing the program stored in the memory 2201, implements the following steps:

[0288] Controlling the conveyor belt to move and receiving the detection result sent by the first controller in the vision detection device;

[0289] The detection result is as follows: the first controller receives the first notification message sent by the first position detection device; obtains the moving speed of the conveyor belt; and controls the follower component to move at the moving speed of the conveyor belt, so that the camera mechanism can move synchronously with the stamping part on the conveyor belt under the drive of the follower component, and controls the camera mechanism to collect an image of the stamping part during the synchronous movement with the stamping part, and performs detection on the stamping part based on the collected image; the first notification message is used to indicate that the first position detection device detects that the stamping part enters the shooting range of the camera mechanism.

[0290] In the embodiment of the present application, the above control device may further include a communication bus and / or a communication interface, and the processor 2202, the communication interface, and the memory 2201 complete communication with each other through the communication bus.

[0291] In addition, the above control device may further include a communication module, for example: a wired network card or a wireless network card is used for communication connection with the first controller.

[0292] The communication bus mentioned in the above electronic device may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity, only a thick line is used in the figure to represent it, but it does not mean that there is only one bus or one type of bus.

[0293] The communication interface is used for communication between the above electronic device and other devices.

[0294] The memory may include a Random Access Memory (RAM), and may also include a Non-Volatile Memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located far from the aforementioned processor.

[0295] The above-mentioned processor may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0296] In another embodiment provided by the present application, a computer-readable storage medium is further provided. A computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps of any of the above-mentioned online detection methods for stamping parts are realized.

[0297] In another embodiment provided by the present application, a computer program product containing instructions is further provided. When it runs on a computer, it causes the computer to execute any of the online detection methods for stamping parts in the above-mentioned embodiments.

[0298] In the above-mentioned embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a dedicated computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website, a computer, a server, or a data center to another website, a computer, a server, or a data center by wire (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server or a data center that includes one or more integrated available media. The available medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a Solid State Disk (SSD), etc.

[0299] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the said element.

[0300] Each embodiment in this specification is described in a related manner. For the identical and similar parts among the embodiments, reference can be made to each other, and the differences between each embodiment and other embodiments are emphasized. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for the relevant parts, reference can be made to the partial description of the method embodiment.

[0301] The above description is only the preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are all included in the protection scope of the present application.

Claims

1. An on-line inspection system for stamping parts, characterized in that: For detecting the stamping parts (100) moving on the conveyor belt (1); the system includes: at least one visual detection device (2), a first position detection device (3) and a control device; Each of the visual detection devices (2) includes: a follow-up mechanism (21), a camera mechanism (22) and a first controller; The follow-up mechanism (21) includes: a base (210) arranged on the side of the conveyor belt (1) and a follow-up component (211) mounted on the base (210); The camera mechanism (22) is mounted at the end (212) of the follow-up component (211); The first controller is electrically connected to the camera mechanism (22) and the follow-up component (211); when the stamping part (100) enters the shooting range of the camera mechanism (22), it is used to control the movement of the follow-up component (211), so that the camera mechanism (22) can be driven by the follow-up component (211) to move synchronously with the stamping part (100) on the conveyor belt (1), and control the camera mechanism (22) to collect images of the stamping part (100) during the synchronous movement with the stamping part (100), and detect the stamping part (100) based on the collected images to obtain a detection result; The first position detection device (3) is arranged at a first fixed position on the side of the conveyor belt (1) and is electrically connected to the first controller, and is used to detect the position of the stamping part (100) on the conveyor belt (1), and notify the first controller when it detects that the stamping part (100) enters the shooting range of the camera mechanism (22); The control device is communicatively connected to the conveyor belt (1) and the first controller, and is used to control the movement of the conveyor belt (1) and receive the detection result sent by the first controller.

2. The system according to claim 1, wherein: The camera mechanism (22) includes: a connecting frame (221), a light source frame (222) and a plurality of cameras (223); The top of the connecting frame (221) is fixedly connected to the end of the follow-up component (211), and the bottom is fixedly connected to the top of the light source frame (222); The light source frame (222) is a conical three-dimensional frame with an opening facing the conveyor belt (1), and includes: a top surface light source (2221) arranged on the inner wall of the top of the conical three-dimensional frame and a conical surface light source (2222) arranged on the inner wall of the conical surface of the conical three-dimensional frame; The top surface light source (2221) is provided with a first through hole (2223); the conical surface light source (2222) is uniformly provided with a plurality of second through holes (2224) along the conical surface; The first through hole (2223) and each of the second through holes (2224) are respectively used to install the camera (223).

3. The system according to claim 2, wherein: The conical three-dimensional frame includes a top surface (2220) and four inclined surfaces (2225); the top surface light source (2221) is arranged on the inner wall of the top surface (2220); the number of the conical surface light sources (2222) is four, and they are respectively arranged on the inner walls of the four inclined surfaces (2225); The connecting frame (221) and the top surface of the light source frame (222) form an installation space, and a camera (223) is installed in the installation space, and its lens passes through the first through hole (2223) and faces the conveyor belt (1); The four sides of the top surface of the light source frame (222) extend outwards to form four camera hoisting plates (2227), and the four cameras (223) are respectively hoisted on the four camera hoisting plates (2227), and the lenses (2231) of the four cameras (223) respectively pass through one of the second through holes (2224) and face the conveyor belt (1).

4. The system according to claim 1, wherein: The follow-up mechanism (21) is a first robotic arm (21a); the first robotic arm (21a) is installed on the detection station (213) on the side of the conveyor belt (1), and the first robotic arm (21a) includes: a first robotic arm base (210a) fixedly installed on the detection station (213) and a first movable arm (211a) installed on the first robotic arm base (210a); the imaging mechanism (22) is installed at the end of the first movable arm (211a); The first controller is installed in the first robotic arm base (210a) and is electrically connected to the imaging mechanism (22) and the first movable arm (211a) to control the movement of the first movable arm (211a) and the imaging mechanism (22) to collect images; The first position detection device (3) is installed on the first positioning station (31) on the side of the conveyor belt (1). Along the conveying direction of the conveyor belt (1), the first positioning station (31) is adjacent to the detection station (213), and the detection station (213) is located behind the first positioning station (31).

5. The system according to claim 4, wherein: The number of the vision detection devices (2) is two, and each vision detection device (2) includes: the first controller, the imaging mechanism (22) and the first robotic arm (21a); The two first robotic arms (21a) are respectively arranged on the detection stations (213) on both sides of the conveyor belt (1); Each imaging mechanism (22) is used to take a complete image of the stamping part (100); or is used to respectively take half of the complete image of the stamping part (100); Each first controller respectively performs detection on the stamping part (100) based on the images collected by the imaging mechanisms (22) connected thereto to obtain detection results; The number of the first position detection devices (3) is two, which are respectively installed on the first positioning stations (31) on both sides of the conveyor belt (1), and each first position detection device (3) is electrically connected to one of the first controllers.

6. The system according to claim 1, wherein: The system further includes: a second robotic arm (4), a second position detection device (5), and a material sorting table (6); The second robotic arm (4) is arranged at the grasping station (41) on the side of the conveyor belt (1), and is located behind the vision detection device (2) along the conveying direction of the conveyor belt (1); The second robotic arm (4) includes: a second robotic arm base (42) fixedly arranged at the grasping station (41) and a second movable arm (43) installed on the second robotic arm base (42); a grasping mechanism (44) is arranged at the end of the second movable arm (43); a second controller is arranged in the base of the second robotic arm (4), and the second controller is electrically connected to the second movable arm (43) and the grasping mechanism (44); The material sorting table (6) is arranged adjacent to the second robotic arm (4) correspondingly; The second position detection device (5) is arranged at the second positioning station (51) on the side of the conveyor belt (1) for detecting the position of the stamping part (100) on the conveyor belt (1), and notifies the second controller when it detects that the stamping part (100) enters the grasping area of the second robotic arm (4); The second controller is used for grasping the current stamping part (100) on the conveyor belt (1) into the corresponding material sorting table (6) when the stamping part (100) enters the grasping area of the second robotic arm (4).

7. The system according to claim 6, wherein: The number of the first robotic arms (21a), detection stations (213), first position detection devices (3), and first positioning stations (31) is the same and is multiple groups; the number of the second robotic arms (4), grasping stations (41), second position detection devices (5), second positioning stations (51), and material sorting tables (6) is the same and is multiple groups; wherein, The multiple groups of detection stations (213) are respectively arranged on both sides of the conveyor belt (1); the multiple groups of first positioning stations (31) are respectively arranged on both sides of the conveyor belt (1), and are arranged in a staggered manner corresponding to the multiple groups of detection stations (213) one by one along the conveying direction of the conveyor belt (1), and each first positioning station (31) is located in front of one detection station (213); The multiple groups of second positioning stations (51) are respectively arranged on both sides of the conveyor belt (1), wherein the first group of second positioning stations (51) is located behind the last group of first robotic arms (21a) along the conveying direction of the conveyor belt (1); The multiple groups of grasping stations (41) are respectively arranged on both sides of the conveyor belt (1) in a staggered manner corresponding to the second positioning stations (51) one by one along the conveying direction of the conveyor belt (1); each second positioning station (51) is located in front of one grasping station (41); Each of the said material distribution tables (6) is arranged adjacent to one of the said second robotic arms (4).

8. The system according to claim 7, characterized in that: Each of the said second controllers is communicatively connected to the first controller, and receives the product type information of the current stamped part (100) on the said conveyor belt (1) sent by each of the first controllers when the detection result is that the current stamped part (100) is defect-free; and when the product type of the current stamped part (100) is consistent with the preset product type of itself, controls the corresponding said second movable arm (43) and the gripping mechanism (44) at its end to grip the current stamped part (100) into the corresponding material distribution table (6); or, Each of the said second controllers is communicatively connected to the control device, and receives the product type information of the current stamped part (100) on the said conveyor belt (1) obtained based on the detection result that the current stamped part (100) is defect-free sent by the control device; and when the product type of the current stamped part (100) is consistent with the preset product type of itself, controls the second movable arm (43) and the gripping mechanism (44) at its end to grip the current stamped part (100) into the corresponding material distribution table (6).

9. The system according to claim 7, characterized in that: Each of the said second controllers is communicatively connected to the first controller, and is used to receive the defect type information of the current stamped part (100) on the said conveyor belt (1) sent by each of the first controllers when the detection result is that the current stamped part (100) is defective; and when the defect type of the current stamped part (100) is consistent with the preset defect type of itself, controls the corresponding said second movable arm (43) and the gripping mechanism (44) at its end to grip the current stamped part (100) into the corresponding material distribution table (6); or, Each of the said second controllers is communicatively connected to the control device, and is used to receive the defect type information of the current stamped part (100) on the said conveyor belt (1) obtained based on the detection result that the current stamped part (100) is defective sent by the control device; and when the defect type of the current stamped part (100) is consistent with the preset defect type of itself, controls the second movable arm (43) and the gripping mechanism (44) at its end to grip the current stamped part (100) into the corresponding material distribution table (6).

10. The system according to claim 6, characterized in that: The said first position detection device (3) includes a first intelligent camera or a first photoelectric sensor; The first intelligent camera is used to detect in real time whether a stamped part (100) on the said conveyor belt (1) moves into the shooting range of the said camera mechanism (22) based on image recognition technology; the first photoelectric sensor is used to detect in real time whether a stamped part (100) on the said conveyor belt (1) moves to the shooting range of the said camera mechanism (22) based on the principle of light reflection by an object. The second position detection device (5) includes a second intelligent camera or a second photoelectric sensor; The second intelligent camera is configured to detect in real time whether the stamping part (100) enters the grasping area of the second robotic arm (4) based on image recognition technology; the second photoelectric sensor is configured to detect in real time whether the stamping part (100) enters the grasping area of the second robotic arm (4) based on the principle of light reflection by an object.

11. The system according to claim 1, wherein: The system further includes a waste temporary storage mechanism (7) disposed at the tail of the conveyor belt (1); The control device is further configured to control the conveyor belt (1) to convey the defective stamping part (100) to the tail of the conveyor belt (1) at a preset waste conveying speed so that it is placed in the waste temporary storage mechanism (7) when the detection result sent by the first controller indicates that the stamping part (100) is a defective stamping part (100).

12. The system according to claim 1, wherein: In the first controller, the moving speed of the conveyor belt (1) is pre-stored; when the stamping part (100) enters the shooting range of the camera mechanism (22), the first controller controls the follower component (211) to move at the pre-stored moving speed of the conveyor belt (1), so that the camera mechanism (22) can move synchronously with the stamping part (100) on the conveyor belt (1) under the drive of the follower component (211); or, When the conveyor belt (1) is started, the control device sends the moving speed of the conveyor belt (1) to the first controller; when the stamping part (100) enters the shooting range of the camera mechanism (22), the first controller controls the follower component (211) to move at the received moving speed of the conveyor belt (1), so that the camera mechanism (22) can move synchronously with the stamping part (100) on the conveyor belt (1) under the drive of the follower component (211).

13. The system according to claim 1, wherein: The follower mechanism (21) is a follower slide (21b); the follower slide (21b) includes two first slide rails (2111), a second slide rail (2112), and a third slide rail (2113); The two first slide rails (2111) are respectively erected on both sides of the conveyor belt (1) through a support base (210b); The second slide rail (2112) straddles the two first slide rails (2111) and is slidably connected to the two first slide rails (2111) along the extension direction of the conveyor belt (1) through two first sliders (2114); The third slide rail (2113) is vertically disposed in the up-and-down direction on the second slide rail (2112) and is horizontally slidably connected to the second slide rail (2112) through a second slider (2115); On one side of the third slide rail (2113) away from the second slider (2115), an installation rail (2117) is provided; the camera mechanism (22) is slidably connected to the installation rail (2117) in the vertical direction through a third slider (2116).

14. The system according to claim 12, wherein: Drive motors are provided on each of the first slider (2114), the second slider (2115), and the third slider (2116); The first controller is arranged on the support base (210b) or in any one of the slide rails and is electrically connected to each drive motor to control each drive motor to drive the first slider (2114), the second slider (2115), and the third slider (2116) to slide on the first slide rail (2111), the second slide rail (2112), and the installation rail (2117); so that the camera mechanism (22) can move synchronously with the stamping part (100) on the conveyor belt (1) under the drive of the follower slide table (21b).

15. A visual inspection device, characterized in that, Applied to the on-line detection system for stamping parts according to any one of claims 1 to 14; The vision detection device includes: a follower mechanism (21), a camera mechanism (22), and a first controller; The follower mechanism (21) includes: a base arranged on the side of the conveyor belt (1) and a follower component (211) installed on the base; The camera mechanism (22) is installed at the end of the follower component (211); The first controller is electrically connected to the camera mechanism (22) and the follower component (211); and is used for controlling the movement of the follower component (211) when the stamping part (100) enters the shooting range of the camera mechanism (22), so that the camera mechanism (22) can move synchronously with the stamping part (100) on the conveyor belt (1) under the drive of the follower component (211), and controlling the camera mechanism (22) to collect an image of the stamping part (100) during the synchronous movement with the stamping part (100), and detecting the stamping part (100) based on the collected image to obtain a detection result.

16. The vision detection device according to claim 15, wherein: The camera mechanism (22) includes: a connecting frame (221), a light source frame (222), and a plurality of cameras (223); The top of the connecting frame (221) is fixedly connected to the end of the follower component (211), and the bottom is fixedly connected to the top of the light source frame (222); The light source frame (222) is a conical three-dimensional frame with an opening facing the conveyor belt (1), and includes: a top surface light source (2221) arranged on the inner wall of the top of the conical three-dimensional frame and a conical surface light source (2222) arranged on the inner wall of the conical surface of the conical three-dimensional frame; The top surface light source (2221) is provided with a first through hole (2223); the conical surface light source (2222) is provided with a plurality of second through holes (2224) evenly along the conical surface; The first through hole (2223) and each of the second through holes (2224) are respectively used to mount a camera (223) facing the conveyor belt (1).

17. The vision inspection device according to claim 16, wherein: The conical three-dimensional frame includes a top surface (2220) of the light source frame and four inclined surfaces (2225); the top surface light source (2221) is disposed on the inner wall of the top surface (2220) of the light source frame; the number of the conical surface light sources (2222) is four, and they are respectively disposed on the inner walls of the four inclined surfaces (2225); The connecting frame (221) and the top surface of the light source frame (222) form an installation space, a camera (223) is installed in the installation space, and its lens passes through the first through hole (2223) and faces the conveyor belt (1); The four sides of the top surface of the light source frame (222) extend outwards to form four camera hoisting plates (2227), and four cameras (223) are respectively hoisted on the four camera hoisting plates (2227), and the lenses (2231) of the four cameras (223) respectively pass through one of the second through holes (2224) and face the conveyor belt (1).

18. The vision inspection device according to claim 15, wherein: The follow-up mechanism (21) is a first robotic arm (21a); the first robotic arm (21a) is installed on the inspection station (213) on the side of the conveyor belt (1), and the first robotic arm (21a) includes: a first robotic arm base (210a) fixedly installed on the inspection station (213) and a first movable arm (211a) installed on the first robotic arm base (210a); the imaging mechanism (22) is installed at the end of the first movable arm (211a); The first controller is installed in the base of the first robotic arm (21a) and is electrically connected to the imaging mechanism (22) and the first movable arm (211a) to control the movement of the first movable arm (211a) and the image acquisition of the imaging mechanism (22).

19. The vision inspection device according to claim 15, wherein: The follow-up mechanism (21) is a follow-up slide table (21b); the follow-up slide table (21b) includes: two first slide rails (2111), a second slide rail (2112) and a third slide rail (2113); The two first slide rails (2111) are respectively erected on both sides of the conveyor belt (1) through support seats (210b); The second slide rail (2112) is bridged on the two first slide rails (2111) and is slidably connected to the two first slide rails (2111) along the extension direction of the conveyor belt (1) through two first sliders (2114); The third slide rail (2113) is vertically arranged in the up and down direction on the second slide rail (2112) and is horizontally slidably connected to the second slide rail (2112) through a second slider (2115); On one side of the third slide rail (2113) away from the second slider (2115), an installation rail (2117) is provided; the camera mechanism (22) is slidably connected to the installation rail (2117) in the vertical direction through a third slider (2116).

20. The vision inspection device according to claim 19, wherein: Drive motors are provided on the first slider (2114), the second slider (2115), and the third slider (2116); The first controller is arranged in the support base (210b) or any one of the slide rails and is electrically connected to each drive motor to control each drive motor to drive the first slider (2114), the second slider (2115), and the third slider (2116) to slide on the first slide rail (2111), the second slide rail (2112), and the installation rail (2117); so that the camera mechanism (22) can move synchronously with the stamping part (100) on the conveyor belt (1) under the drive of the follower slide table (21b).

21. An on-line inspection method for stamping parts, characterized in that: A first controller applied to the stamping part online inspection system according to any one of claims 1 to 14; the method includes: Receiving a first notification message sent by the first position detection device, where the first notification message is used to indicate that the first position detection device detects that the stamping part enters the shooting range of the camera mechanism; Obtaining the moving speed of the conveyor belt; Controlling the follower component to move at the moving speed of the conveyor belt, so that the camera mechanism can move synchronously with the stamping part on the conveyor belt under the drive of the follower component, and controlling the camera mechanism to collect an image of the stamping part during the synchronous movement with the stamping part; Detecting the stamping part based on the collected image to obtain a detection result; Sending the obtained detection result to the control device.

22. The method according to claim 21, wherein: The detecting the stamping part based on the collected image to obtain a detection result includes: Detecting one or more defect items of whether the position of the hole on the stamping part is accurate, whether there are unevenness, whether there are bruises, whether there are scratches, whether there is cracking, whether there is necking phenomenon in the cross section, or whether there are burrs in the collected image to obtain a detection result.

23. The method according to claim 21, wherein: The moving speed of the conveyor belt is pre-stored in the first controller; The obtaining the moving speed of the conveyor belt includes: reading the pre-stored moving speed of the conveyor belt; or, receiving the moving speed of the conveyor belt sent by the control device when the conveyor belt is started.

24. The method according to claim 21, wherein: The camera mechanism includes: a connecting frame, a light source frame, and a plurality of cameras; the light source frame is a conical three-dimensional frame with an opening facing the conveyor belt, and includes: a top surface light source arranged on the inner wall of the top of the conical three-dimensional frame and a conical surface light source arranged on the inner wall of the conical surface of the conical three-dimensional frame; During the process of controlling the camera mechanism to move synchronously with the stamping part, acquiring an image of the stamping part includes: After receiving the first notification message, turn on the top surface light source and each conical surface light source, and control each camera to simultaneously capture images during the process of moving synchronously with the stamping part at a preset shooting frequency until the stamping part moves out of the shooting range of the camera mechanism.

25. The method according to claim 21, wherein: The system further includes: a second robotic arm, a second position detection device, and a blanking table; The method further includes: sending the detection result to a second controller disposed at the base of the second robotic arm, so that the second controller controls the second movable arm of the second robotic arm and the grasping mechanism at its end to grasp the current stamping part into the blanking table when receiving a second notification message sent by the second position detection device; wherein, the second notification message is used to indicate that the second position detection device detects that the stamping part enters the grasping area of the second robotic arm.

26. The method according to claim 25, characterized in that: The number of the second robotic arm, the second position detection device, the second controller, and the blanking table is multiple; The sending the detection result to a second controller disposed at the base of the second robotic arm, so that the second controller controls the second movable arm of the second robotic arm and the grasping mechanism at its end to grasp the current stamping part into the blanking table when receiving a second notification message sent by the second position detection device includes: When the detection result is that the current stamping part is defect-free, sending the detection result and the product type information of the current stamping part to each second controller, so that each second controller controls the corresponding second movable arm and the grasping mechanism at its end to grasp the current stamping part into the corresponding blanking table when receiving a second notification message sent by the second position detection device electrically connected thereto and the product type of the current stamping part is consistent with the preset product type of itself; or, When the detection result is that the current stamping part is defective, sending the detection result and the defect type information of the current stamping part to each second controller, so that each second controller controls the corresponding second movable arm and the grasping mechanism at its end to grasp the current stamping part into the corresponding blanking table when receiving a second notification message sent by the second position detection device electrically connected thereto and the defect type of the current stamping part is consistent with the preset defect type of itself.

27. An on-line inspection method for stamping parts, characterized in that: A control device applied to the stamping part on-line detection system according to any one of claims 1 to 14; the method includes: Controlling the conveyor belt to move; Receiving a detection result sent by a first controller in the vision detection device; The detection result is as follows: the first controller receives the first notification message sent by the first position detection device; obtains the moving speed of the conveyor belt; and controls the follower component to move at the moving speed of the conveyor belt, so that the camera mechanism can move synchronously with the stamping part on the conveyor belt under the drive of the follower component, and controls the camera mechanism to collect an image of the stamping part during the synchronous movement with the stamping part, and performs detection on the stamping part based on the collected image; the first notification message is used to indicate that the first position detection device detects that the stamping part enters the shooting range of the camera mechanism.

28. The method according to claim 27, wherein: The number of the vision detection devices is two, and each vision detection device includes: the first controller, the camera mechanism and the first robotic arm; Receiving the detection result sent by the first controller in the vision detection device includes: Receiving the detection result obtained by each first controller detecting the stamping part based on the images collected by the camera mechanisms connected thereto respectively; wherein, each camera mechanism is used to capture a complete image of the stamping part; or is used to capture half of the complete image of the stamping part respectively; The method further includes: when the received detection result is obtained based on half of the image, combining the detection results sent by the two first controllers to obtain the complete detection result of the stamping part.

29. The method according to claim 28, wherein: There are multiple groups of the vision detection devices, and the number of each group is two; Receiving the detection result sent by the first controller in the vision detection device includes: receiving the detection results of one or two preset defect items obtained by the first controller of each vision detection device detecting the stamping part based on the images collected by the camera mechanisms connected thereto respectively; The method further includes: Combining the detection results of the preset defect items sent by each first controller to obtain the detection result of all defect items of the stamping part.

30. The method according to claim 27, wherein: The system further includes: a second robotic arm, a second position detection device and a blanking table; The method further includes: after receiving the detection result, sending a grasping instruction to the second controller arranged at the base of the second robotic arm, so that the second controller controls the second movable arm of the second robotic arm and the grasping mechanism at its end to grasp the current stamping part into the blanking table when receiving the second notification message sent by the second position detection device; wherein, the second notification message is used to indicate that the second position detection device detects that the stamping part enters the grasping area of the second robotic arm.

31. The method according to claim 30, wherein: The number of the second robotic arm, the second position detection device, the second controller and the blanking table is multiple; Sending a grasping instruction to a second controller disposed on the base of the second robotic arm includes: Obtaining the detection result sent by the first controller and the product type information of the current stamping part on the conveyor belt; and when the detection result indicates that the current stamping part is defect-free, sending the product type information of the current stamping part to each second controller disposed on the base of each second robotic arm, so that each of the second controllers controls the second movable arm and the grasping mechanism at its end to grasp the current stamping part into the corresponding blanking table when the product type of the current stamping part is consistent with the preset product type of itself and the second notification message sent by the second position detection device electrically connected to the second controller is received; or, Obtaining the detection result sent by the first controller and the defect type information of the current stamping part on the conveyor belt; and when the detection result indicates that the current stamping part is defective, sending the defect type information of the current stamping part to each second controller disposed on the base of each second robotic arm, so that each of the second controllers controls the second movable arm and the grasping mechanism at its end to grasp the current stamping part into the corresponding blanking table when the defect type of the current stamping part is consistent with the preset defect type of itself and the second notification message sent by the second position detection device electrically connected to the second controller is received.

32. The method according to claim 27, wherein: The system further includes: a waste temporary storage mechanism disposed at the tail of the conveyor belt; The method further includes: when the detection result sent by the first controller indicates that the stamping part is a defective stamping part, controlling the conveyor belt to convey the defective stamping part to the tail of the conveyor belt at a preset waste conveying speed so that it is placed in the waste temporary storage mechanism.

33. An on-line inspection device for stamping parts, characterized in that: A first controller applied to the stamping part online detection system according to any one of claims 1 to 14; the device includes: A first notification message receiving module, configured to receive the first notification message sent by the first position detection device, where the first notification message is used to indicate that the first position detection device detects that the stamping part enters the shooting range of the camera mechanism; A speed obtaining module, configured to obtain the moving speed of the conveyor belt; A first control module, configured to control the follower component to move at the moving speed of the conveyor belt, so that the camera mechanism can move synchronously with the stamping part on the conveyor belt under the drive of the follower component, and control the camera mechanism to collect an image of the stamping part during the synchronous movement with the stamping part; A detection module, configured to detect the stamping part based on the collected image to obtain a detection result; A result sending module, configured to send the obtained detection result to the control device.

34. An in-line inspection device for stamping parts, characterized in that: A control device applied to the stamping part online detection system according to any one of claims 1 to 14; the device includes: A second control module, configured to control the movement of the conveyor belt; A result receiving module, configured to receive the detection result sent by the first controller in the vision detection device; The detection result is as follows: the first controller receives the first notification message sent by the first position detection device; obtains the moving speed of the conveyor belt; and controls the follower member to move at the moving speed of the conveyor belt, so that the camera mechanism can move synchronously with the stamping part on the conveyor belt under the drive of the follower member, and controls the camera mechanism to collect images of the stamping part during the synchronous movement with the stamping part, and performs detection on the stamping part based on the collected images; the first notification message is used to indicate that the first position detection device detects that the stamping part enters the shooting range of the camera mechanism.

35. A controller, characterized in that, It includes: A memory for storing computer programs; A processor, when executing the programs stored on the memory, implements the method according to any one of claims 21-26.

36. A control device, characterized in that, It includes: A memory for storing computer programs; A processor, when executing the programs stored on the memory, implements the method according to any one of claims 27-32.

37. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer programs, and when the computer programs are executed by the processor, the method according to any one of claims 21-26 or any one of claims 27-32 is implemented.

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